Comparison Between Position and Rate Control Using a Foot Interface

2018 ◽  
Author(s):  
Zachary J. Dougherty ◽  
Ryder C. Winck
Keyword(s):  
Rate Control ◽  
Position Control ◽  
Control Method ◽  
Hand Position ◽  
Control Methods ◽  
Robotic Arms ◽  
Comparison Results ◽  
Human Subject Experiment ◽  
Subject Experiment ◽  
Robotic Teleoperation

There has been a recent increase in research related to supernumerary robotic arms. A challenge with supernumerary robotic arms is how to operate them effectively. One solution is to use the foot to teleoperate the arm. That frees the person to use their arms for other tasks. However, unlike hand interfaces, it is not known how to create effective foot control for robotic teleoperation. This paper presents an experiment to compare position and rate control methods for foot interfaces. A foot interface is presented that can be used for both position and rate control. A human subject experiment uses 2D positioning tasks to evaluate the effectiveness of each control method. These same tasks are tested with a hand interface to provide a baseline for comparison. Results show that, similar to the hand, position control performs faster than rate control when using the foot.

scholarly journals Unified Switching between Active Flying and Perching of a Bioinspired Robot Using Impedance Control

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Shanshan Du ◽  
Heping Chen ◽  
Yong Liu ◽  
Runting Hu
Keyword(s):  
Animal Behavior ◽  
Position Control ◽  
Control Method ◽  
Impedance Control ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Control Methods ◽  
Prior Work ◽  
Control Approach ◽  
Three Dimensional Space

Currently, a bottleneck problem for battery-powered microflying robots is time of endurance. Inspired by flying animal behavior in nature, an innovative mechanism with active flying and perching in the three-dimensional space was proposed to greatly increase mission life and more importantly execute tasks perching on an object in the stationary way. In prior work, we have developed some prototypes of flying and perching robots. However, when the robots switch between flying and perching, it is a challenging issue to deal with the contact between the robot and environment under the traditional position control without considering the stationary obstacle and external force. Therefore, we propose a unified impedance control approach for bioinspired flying and perching robots to smoothly contact with the environment. The dynamic model of the bioinspired robot is deduced, and the proposed impedance control method is employed to control the contact force and displacement with the environment. Simulations including the top perching and side perching and the preliminary experiments were conducted to validate the proposed method. Both simulation and experimental results validate the feasibility of the proposed control methods for controlling a bioinspired flying and perching robot.

scholarly journals Comparative and Cost Analysis of a Novel Predictive Power Ramp Rate Control Method: A Case Study in a PV Power Plant in Puerto Rico

2021 ◽  
Vol 11 (13) ◽  
pp. 5766
Author(s):  
Juan F. Patarroyo-Montenegro ◽  
Jesus D. Vasquez-Plaza ◽  
Omar F. Rodriguez-Martinez ◽  
Yuly V. Garcia ◽  
Fabio Andrade
Keyword(s):  
Puerto Rico ◽  
Power Plant ◽  
Control Strategy ◽  
Rate Control ◽  
Control Method ◽  
Real Data ◽  
Control Methods ◽  
Ramp Rate ◽  
Proposed Model ◽  
One Year

One of the most important aspects that need to be addressed to increase solar energy penetration is the power ramp-rate control. In weak grids such as the one found in Puerto Rico, it is important to smooth power fluctuations caused by the intermittence of passing clouds. In this work, a novel power ramp-rate control strategy is proposed. Additionally, a comparison with some of the most common power ramp-rate control methods is performed using a proposed model and real solar radiation data from the Coto Laurel photovoltaic power plant located in Ponce, Puerto Rico. The proposed model was validated using one-year real data from Coto Laurel. The power ramp-rate control methods were compared in real-time simulations using the OP5700 from Opal-RT Technologies considering power ramp rate fluctuations, power ramp-rate violations, fluctuations in the state-of-charge, among other indicators. Moreover, the proposed power ramp-rate control strategy, called predictive dynamic smoothing was explained and compared. Results indicate that the predictive dynamic smoothing produced a considerably reduced Levelized Cost of Storage compared to other power ramp-rate control methods and provided a higher lifetime expectancy for lithium batteries.

scholarly journals Coordinated compliance control of dual-arm robot astronaut for payload operation

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110128
Author(s):  
Bingshan Hu ◽  
Lei Yan ◽  
Liangliang Han ◽  
Hongliu Yu
Keyword(s):  
Force Control ◽  
Position Control ◽  
Control Method ◽  
Constraint Equation ◽  
Control Mode ◽  
Control Methods ◽  
Compliance Control ◽  
Closed Chain ◽  
Dual Arm Robot ◽  
Dual Arm

Dual-arm robot astronaut has more general and dexterous operation ability than single-arm robot, and it can interact with astronaut more friendly. The robot will inevitably use both arms to grasp payloads and transfer them. The force control of the arms in closed chains is an important problem. In this article, the coordinated kinematic and dynamic equations of the dual-arm astronaut are established by considering the closed-chain constraint relationship. Two compliance control methods for dual-arm astronaut coordinated payload manipulating are proposed. The first method is called master–slave force control and the second is the shared force control. For the former, the desired path and operational force of the master arm should be given in advance and that of slave arm are calculated from the dual-arm robot closed-chain constraint equation. In the share control mode, the desired path and end operational force of dual arms are decomposed from the dual-arm robot closed-chain constraint equation directly and equally. Finally, the two control algorithms are verified by simulation. The results of analysis of variance of the simulation data show that the two control methods have no obvious difference in the accuracy of force control but the second control method has a higher position control accuracy, and this proves that the master–slave mode is better for tasks with explicit force distribution requirements and the shared force control is especially suitable for a high-precision requirement.

Coordinated Rate Control of a Hydraulic Excavator Using Traditional Joystick Hardware

2015 ◽  
Author(s):  
Samuel F. Seifert ◽  
Wayne J. Book
Keyword(s):  
Rate Control ◽  
Human Subject ◽  
Performance Metrics ◽  
Coordinated Control ◽  
Self Report ◽  
End Effector ◽  
Performance Improvements ◽  
Hydraulic Excavators ◽  
Human Subject Experiment ◽  
Subject Experiment

This paper presents a novel user interface (UI) for coordinated rate control (CRC) of an excavator end effector using traditional hardware. Coordinated control of an excavator end effector alleviates the cognitive load created by nonlinear arm dynamics on the excavator operator, allowing the operator to perform tasks more quickly and with fewer errors. A human subject experiment demonstrates the feasibility of excavator CRC using the traditional twin joystick setup, and compares operator performance between a CRC UI and traditional excavator UI. Performance of the CRC UI was statically equivalent to the performance of the traditional UI. When asked to self-report UI preference: 26 participants stated they preferred the CRC UI, 6 preferred the traditional UI, and 14 had no preference. Although the current iteration of the CRC UI offered no measurable performance improvements, a remapping of the CRC joystick inputs to the end effector motion could make the CRC UI more intuitive, lead to better performance metrics, and make hydraulic excavators safer, more efficient, and easier to use.

Optimizing Heart Rate and Controlling Symptoms in Atrial Fibrillation

2016 ◽  
Vol 10 (1) ◽  
pp. 26
Author(s):  
Pragnesh Parikh ◽  
◽  
KL Venkatachalam ◽  
Keyword(s):  
Risk Factors ◽  
Atrial Fibrillation ◽  
Rate Control ◽  
Stroke Risk ◽  
Symptom Control ◽  
Review Article ◽  
Rhythm Control ◽  
Ventricular Rate ◽  
Control Methods ◽  
Novel Approaches

Atrial fibrillation (AF) is the most common arrhythmia noted in clinical practice and its incidence and prevalence are on the rise. The single most important intervention is the evaluation and treatment of stroke risk. Once the risk for stroke has been minimized, controlling the ventricular rate and treating symptoms become relevant. In this review article, we emphasize the importance of confirming and treating the appropriate arrhythmia and correlating symptoms with rhythm changes. Furthermore, we evaluate some of the risk factors for AF that independently result in symptoms, underlining the need to treat these risk factors as part of symptom control. We then discuss existing and novel approaches to rate control in AF and briefly cover rhythm control methods.

A Cross-layer Rate Control Method for MIMO-WLAN

2011 ◽  
Vol 33 (10) ◽  
pp. 2364-2371
Author(s):  
Zhi-jie Li ◽  
Xu-ming Fang
Keyword(s):  
Rate Control ◽  
Control Method ◽  
Cross Layer

scholarly journals Backstepping Sliding-Mode Control of Piezoelectric Single-Piston Pump-Controlled Actuator

Actuators ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 154
Author(s):  
Bin Wang ◽  
Pengda Ren ◽  
Xinhao Huang
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Piezoelectric Pump ◽  
Mode Control ◽  
Control Precision ◽  
Backstepping Sliding Mode Control ◽  
Actuator System ◽  
The Mathematical Model

A piston piezoelectric (PZT) pump has many advantages for the use of light actuators. How to deal with the contradiction between the intermittent oil supplying and position control precision is essential when designing the controller. In order to accurately control the output of the actuator, a backstepping sliding-mode control method based on the Lyapunov function is introduced, and the controller is designed on the basis of establishing the mathematical model of the system. The simulation results show that, compared with fuzzy PID and ordinary sliding-mode control, backstepping sliding-mode control has a stronger anti-jamming ability and tracking performance, and improves the control accuracy and stability of the piezoelectric pump-controlled actuator system.

scholarly journals Disturbance compensation-based output feedback adaptive control for shape memory alloy actuator system

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199399
Author(s):  
Xiaoguang Li ◽  
Bi Zhang ◽  
Daohui Zhang ◽  
Xingang Zhao ◽  
Jianda Han
Keyword(s):  
Adaptive Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Control Method ◽  
Control Law ◽  
Reference Trajectory ◽  
Disturbance Compensation ◽  
Comparison Results ◽  
Control Scheme ◽  
Actuator System

Shape memory alloy (SMA) has been utilized as the material of smart actuators due to the miniaturization and lightweight. However, the nonlinearity and hysteresis of SMA material seriously affect the precise control. In this article, a novel disturbance compensation-based adaptive control scheme is developed to improve the control performance of SMA actuator system. Firstly, the nominal model is constructed based on the physical process. Next, an estimator is developed to online update not only the unmeasured system states but also the total disturbance. Then, the novel adaptive controller, which is composed of the nominal control law and the compensation control law, is designed. Finally, the proposed scheme is evaluated in the SMA experimental setup. The comparison results have demonstrated that the proposed control method can track reference trajectory accurately, reject load variations and stochastic disturbances timely, and exhibit satisfactory robust stability. The proposed control scheme is system independent and has some potential in other types of SMA-actuated systems.

Exploration on Shape of Profiles Determined by Chord Angle Control Method

2011 ◽  
Vol 314-316 ◽  
pp. 837-841
Author(s):  
Ling Ling ◽  
Yuan Sheng Zeng
Keyword(s):  
Theoretical Basis ◽  
Control Method ◽  
Angle Measurement ◽  
Mapping Method ◽  
Control Methods ◽  
Forming Process ◽  
Spline Curve ◽  
Curve Line ◽  
Line Measure

Through compassion of relative merits of the existing two control methods of straighten anti-curve line and chord line measure for cold-formed profiles, a three-pivot chord angle control method of non-endpoint measurement was proposed in this paper, and its feasibility was proved by using mathematical deduction. Using mapping method, the forming of profiles can be controlled by the only one set of orderly array chord angles and chord lines obtained by a spline curve of profiles, and meanwhile, the length of automation feedstock in forming process of profiles was explored. The present research achievements can provide a good theoretical basis for the further application on controlling profile forming with the chord angle measurement.

scholarly journals Emulation of grid-forming inverters using real-time PC and 4-quadrant voltage amplifier

2021 ◽  
Author(s):  
Wolf Schulze ◽  
Maurizio Zajadatz ◽  
Michael Suriyah ◽  
Thomas Leibfried
Keyword(s):  
Real Time ◽  
Control Method ◽  
Current Control ◽  
Control Methods ◽  
Test Bed ◽  
Test Scenario ◽  
Power Semiconductors ◽  
Voltage Amplifier ◽  
Grid Side ◽  
Virtual Synchronous Machine

AbstractA test bed for the evaluation of novel control methods of inverters for renewable power generation is presented. The behavior of grid-following and grid-forming control in a test scenario is studied and compared.Using a real-time capable control platform with a cycle time of 50 µs, control methods developed with Matlab/Simulink can be implemented. For simplicity, a three-phase 4‑quadrant voltage amplifier is used instead of an inverter. Thus, the use of modulation and switched power semiconductors can be avoided. In order to show a realistic behavior of a grid-side filter, passive components can be automatically connected as L‑, LC- or LCL-filter. The test bed has a nominal active power of 43.6 kW and a nominal voltage of 400 V.As state-of-the-art grid-following control method, a current control in the d/q-system is implemented in the test bed. A virtual synchronous machine, the Synchronverter, is used as grid-forming control method. In combination with a frequency-variable grid emulation, the behavior of both control methods is studied in the event of a load connection in an island grid environment.

Sign in / Sign up

Export Citation Format

Share Document